DE10164278B4 - Cleaning robot, robotic cleaning system and method of controlling the same - Google Patents
Cleaning robot, robotic cleaning system and method of controlling the same Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims description 33
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 14
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000002996 emotional effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 230000003442 weekly effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
- G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
- Electric Suction Cleaners (AREA)
Abstract
Reinigungsroboter (10) zur Ausführung einer Reinigung durch eine drahtlose Kommunikation mit einer äußeren Vorrichtung, mit einer Antriebseinheit (15) für den Antrieb einer Vielzahl von Rädern (15a, 15b, 15c, 15d), einer Steuereinrichtung (18) zum Steuern der Antriebseinheit (15) derart, dass der Reinigungsroboter (10) innerhalb eines Reinigungsbereiches gemäß einem vorgegebenen Antriebsmuster ansteuerbar ist, und einer an einem Hauptkörper (10a) angeordneten oberen Kamera, um rechtwinklig zur Antriebsrichtung ein oberes Bild aufzunehmen, wobei die Steuereinrichtung (18) die Antriebseinheit (15) innerhalb des Reinigungsbereiches entsprechend einem vorgegebenen Antriebsmuster steuert und ein Referenz-Bild durch die obere Kamera (14) erzeugt und gespeichert wird und im Reinigungsbetrieb die Steuereinrichtung (18) eine Position dadurch erkennt, dass das gespeicherte Referenz-Bild und ein gegenwärtiges Bild das von der oberen Kamera (14) eingegeben wird, verglichen werden und die Antriebseinheit (15) entsprechend einer Ziel-Antriebsbahn von einer erkannten Position gesteuert wird.Cleaning robot (10) for carrying out cleaning through wireless communication with an external device, with a drive unit (15) for driving a plurality of wheels (15a, 15b, 15c, 15d), a control device (18) for controlling the drive unit ( 15) in such a way that the cleaning robot (10) can be controlled within a cleaning area according to a predetermined drive pattern, and an upper camera arranged on a main body (10a) in order to record an upper image at right angles to the drive direction, the control device (18) controlling the drive unit ( 15) controls within the cleaning area according to a predetermined drive pattern and a reference image is generated and stored by the upper camera (14) and the control device (18) detects a position in the cleaning mode by the fact that the stored reference image and a current image are the from the upper camera (14) is entered, and the drives unit (15) is controlled from a recognized position according to a target drive path.
Description
Hintergrund der ErfindungBackground of the invention
1. Gebiet der Erfindung1. Field of the invention
Die vorliegende Erfindung bezieht sich auf eine automatische Reinigungsvorrichtung bzw. auf einen Reinigungsroboter, auf ein Reinigungsrobotersystem sowie auf ein Verfahren zu deren Steuerung und betrifft insbesondere einen Reinigungsroboter ein Reinigungsrobotersystem sowie ein Verfahren zu deren Steuerung, das imstande ist, einen Antrieb des Reinigungsroboters durch Verwendung eines aufgenommenen oberen Bildes zu steuern, während der Reinigungsroboter angetrieben wird.The present invention relates to an automatic cleaning device or to a cleaning robot, to a robot cleaning system and to a method for the control thereof, and in particular relates to a cleaning robot, a robot cleaning system and a method for its control, which is capable of driving the cleaning robot by using a control the recorded upper image while the cleaning robot is being driven.
2. Beschreibung der verwandten Technik2. Description of the Related Art
Ein allgemeiner Reinigungsroboter bestimmt einen Reinigungsbereich durch Entlangfahren einer äußeren Spur des Reinigungsbereiches, der von einer Wand oder einem Hindernis umgeben ist, unter Verwendung eines an einem Hauptkörper angebrachten Ultraschallsensors und plant einen Reinigungsweg, um den bestimmten Reinigungsbereich zu reinigen. Danach treibt der Reinigungsroboter Räder an, um den geplanten Reinigungsweg zu durchlaufen, indem eine Antriebs- bzw. Laufstrecke und eine gegenwärtige Position aus einem Signal berechnet werden, welches durch einen Sensor ermittelt ist, der zur Ermittlung einer Drehzahl der Räder und eines Drehwinkels vorgesehen ist. Das obige Verfahren zum Erkennen der Position weist jedoch einen Fehler zwischen dem Antriebs- bzw. Fahrabstand und der bewegten Position, die aus dem Signal von dem Sensor berechnet ist, und der echten Antriebsstrecke und der Position aufgrund des Schlupfes der Räder und der Krümmung eines Bodens auf, während die automatische Reinigungsvorrichtung angetrieben wird. Je häufiger die Reinigungsvorrichtung angetrieben wird bzw. läuft, umso stärker akkumuliert sich der Positionserkennungsfehler. Demgemäss kann die angetriebene Reinigungsvorrichtung durch den akkumulierten Positionserkennungsfehler von der geplanten Reinigungsbahn abweichen. Folglich könnte irgendein Bereich nicht gereinigt werden, und die Reinigungsvorrichtung kann eine Reinigung bezüglich desselben Bereiches mehrere Male ausführen. Demgemäss kann der Reinigungs-Wirkungsgrad verschlechtert sein.A general cleaning robot determines a cleaning area by running an outer track of the cleaning area surrounded by a wall or an obstacle using an ultrasonic sensor attached to a main body, and plans a cleaning path to clean the specific cleaning area. Thereafter, the cleaning robot drives wheels to go through the planned cleaning path by calculating a running distance and a current position from a signal determined by a sensor provided for detecting a rotational speed of the wheels and a rotational angle , However, the above method for detecting the position has an error between the driving distance and the moving position calculated from the signal from the sensor and the true driving distance and the position due to the slip of the wheels and the curvature of a ground while the automatic cleaning device is being driven. The more often the cleaning device is driven or running, the more the position recognition error accumulates. Accordingly, the driven cleaner may deviate from the intended cleaning path due to the accumulated position detection error. Consequently, any area could not be cleaned, and the cleaning apparatus can perform cleaning on the same area several times. Accordingly, the cleaning efficiency may be deteriorated.
Dokument
In den Dokumenten
In den Dokumenten
Zusammenfassung der ErfindungSummary of the invention
Eine Aufgabe der vorliegenden Erfindung besteht darin, eine automatische Reinigungsvorrichtung bzw. einen Reinigungsroboter, ein automatisches Reinigungssystem bzw. ein Reinigungsrobotersystem sowie ein Verfahren zu deren Steuerung bereitzustellen, der bzw. das imstande ist, eine befehlsgesteuerte Reinigung effektiv durch einfache Kompensierung einer Antriebs- bzw. Fahrspur und durch exaktes Erkennen einer gegenwärtigen Position der automatischen Reinigungsvorrichtung bzw. des Reinigungsrobotersystems auszuführen.An object of the present invention is to provide an automatic cleaning or cleaning robot, an automatic cleaning system or a robot cleaning system and a method for their control, which is capable of an instruction-controlled cleaning effectively by simple compensation of a drive or Lane and perform by accurately detecting a current position of the automatic cleaning device or the cleaning robot system.
Die obige Aufgabe wird gelöst durch einen Reinigungsroboter zur Ausführung einer Reinigung durch eine drahtlose Kommunikation mit einer äußeren Vorrichtung, mit einer Antriebseinheit für den Antrieb einer Vielzahl von Rädern, einer Steuereinrichtung zum Steuern der Antriebseinheit derart, dass der Reinigungsroboter innerhalb eines Reinigungsbereiches gemäß einem vorgegebenen Antriebsmuster ansteuerbar ist, und einer an einem Hauptkörper angeordneten oberen Kamera, um rechtwinklig zur Antriebsrichtung ein oberes Bild aufzunehmen, wobei die Steuereinrichtung die Antriebseinheit innerhalb des Reinigungsbereiches entsprechend einem vorgegebenen Antriebsmuster steuert und ein Referenz-Bild durch die obere Kamera erzeugt und gespeichert wird und im Reinigungsbetrieb die Steuereinrichtung eine Position dadurch erkennt, dass das gespeicherte Referenz-Bild und ein gegenwärtiges Bild das von der oberen Kamera eingegeben wird, verglichen werden und die Antriebseinheit entsprechend einer Ziel-Antriebsbahn von einer erkannten Position gesteuert wird.The above object is achieved by a cleaning robot for performing cleaning by wireless communication with an external device, having a drive unit for driving a plurality of wheels, control means for controlling the drive unit such that the cleaning robot is within a cleaning area according to a predetermined drive pattern and an upper camera arranged on a main body to record an upper image perpendicular to the drive direction, the control means controlling the drive unit within the cleaning area according to a predetermined drive pattern, and a reference image being generated and stored by the upper camera and in the cleaning operation the controller recognizes a position by comparing the stored reference image and a current image inputted from the upper camera, and the drive unit corresponding to one of Target drive path is controlled by a detected position.
Vorzugsweise ist eine vordere Kamera bzw. eine Frontkamera an dem Hauptkörper zur Aufnahme eines Bildes entgegengesetzt zur Antriebsrichtung angeordnet. Die Steuereinrichtung erzeugt das Referenz-Bild durch eine dreidimensionale Abbildung des von der oberen Kamera aufgenommenen oberen Bildes und des von der Frontkamera aufgenommenen Bildes.Preferably, a front camera or a front camera on the main body for receiving an image opposite to Drive direction arranged. The controller generates the reference image by a three-dimensional image of the upper image taken by the upper camera and the image taken by the front camera.
Die Steuereinrichtung unterteilt das Referenz-Bild in eine Vielzahl von kleinen Zellen mit einer bestimmten Größe, bestimmt ein spezielles Merkmal der aufgeteilten kleinen Zellen und legt das bestimmte spezielle Merkmal als einen Standard-Koordinatenpunkt für die Erkennung der Position fest. Das spezielle Merkmal weist zumindest ein Element aus einer Glühlampe, einem Feuersensor bzw. Brandmelder, einer Leuchtstofflampe und einem Lautsprecher auf.The controller divides the reference image into a plurality of small sized cells, determines a particular feature of the divided small cells, and sets the particular feature as a standard coordinate point for recognizing the position. The special feature comprises at least one element of an incandescent lamp, a fire sensor or fire detector, a fluorescent lamp and a loudspeaker.
Die Steuereinrichtung extrahiert ein geradliniges Element aus dem von der oberen Kamera aufgenommenen Bild, während der Reinigungsroboter angetrieben wird, und kompensiert eine Antriebsspur durch Heranziehen des extrahierten geradlinigen Elements.The controller extracts a rectilinear element from the image taken by the upper camera while the cleaning robot is being driven, and compensates for a drive track by using the extracted rectilinear element.
Gemäß der vorliegenden Erfindung ist des weiteren ein Reinigungsrobotersystem vorgesehen mit einem Reinigungsroboter, mit einer Fernsteuereinrichtung für die drahtlose Kommunikation mit dem Reinigungsroboter, wobei die Fernsteuereinrichtung den Reinigungsroboter steuert.According to the present invention, there is further provided a robot cleaner system having a robot cleaner, with a remote controller for wireless communication with the robot cleaner, wherein the remote controller controls the robot cleaner.
Die obige Aufgabe wird des weiteren gelöst durch ein Verfahren zur Steuerung eines Reinigungsroboters, der eine obere Kamera zur Aufnahme eines oberen Bildes enthält, wobei ein Referenz-Bild in Bezug auf einen oberen Bereich durch die obere Kamera erzeugt und gespeichert wird, indem der Reinigungsroboter innerhalb eines Reinigungsbereiches gemäß einem vorgegebenen Antriebsmuster angesteuert wird, wobei im Reinigungsbetrieb eine Position des Reinigungsroboters dadurch erkannt wird, dass das gespeicherte Referenz-Bild und ein gegenwärtiges Bild das von der oberen Kamera eingegeben wird, verglichen werden, wobei eine Ziel-Antriebsbahn aus der erkannten Position zu einer Zielposition hin berechnet wird, wenn ein Signal zum Reinigen übertragen wird, und wobei der Reinigungsroboter entsprechend der berechneten Antriebsbahn gesteuert wird.The above object is further achieved by a method of controlling a cleaning robot including an upper camera for capturing an upper image, wherein a reference image relative to an upper area is generated and stored by the upper camera by the cleaning robot within a cleaning area is driven in accordance with a predetermined drive pattern, wherein in the cleaning operation, a position of the cleaning robot is detected by comparing the stored reference image and a current image input from the upper camera, with a target driving path from the detected position is calculated to a target position when a signal for cleaning is transmitted, and the cleaning robot is controlled according to the calculated drive path.
Die obige Aufgabe wird außerdem gelöst durch ein Verfahren zur Steuerung eines Reinigungsroboters, der eine obere Kamera zur Aufnahme eines oberen Bildes aufweist, wobei ein Referenz-Bild eines Reinigungsbereiches dadurch erzeugt wird, dass der Reinigungsroboter innerhalb eines Reinigungsbereiches angesteuert wird und dass durch die obere Kamera ein Referenz-Bild erzeugt und gespeichert wird, wenn Signal bezüglich eines Betriebs zur Abbildung eines Reinigungsbereiches vorliegt, wobei ein Rechenschritt ausgeführt wird zur Berechnung einer Ziel-Antriebsbahn entsprechend einer befohlenen Reinigung, wenn ein Signal zum Reinigen übertragen wird, wobei der Reinigungsroboter entsprechend der berechneten Antriebsbahn angesteuert wird und wobei die Antriebsbahn durch Analyse eines von der oberen Kamera aufgenommenen Bildes kompensiert wird.The above object is also achieved by a method of controlling a cleaning robot having an upper camera for recording an upper image, wherein a reference image of a cleaning area is generated by driving the cleaning robot within a cleaning area and by the upper camera a reference image is generated and stored when there is a signal relating to an operation for imaging a cleaning area, wherein a calculating step is performed for calculating a target driving path according to a commanded cleaning when a signal for cleaning is transmitted, the cleaning robot corresponding to the calculated one Drive track is controlled and wherein the drive track is compensated by analyzing an image taken by the upper camera image.
Vorzugsweise wird bei dem Antriebsbahn-Kompensationsschritt ein geradliniges Element aus dem Bild extrahiert, welches von der oberen Kamera aufgenommen ist, und die Antriebsbahn wird durch Heranziehen des extrahierten geradlinigen Elements kompensiert.Preferably, in the drive-path compensating step, a rectilinear element is extracted from the image taken by the upper camera, and the driving trajectory is compensated by taking the extracted rectilinear element.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
Die Aufgabe und das Merkmal der vorliegenden Erfindung werden durch Beschreibung der bevorzugten Ausführungsformen der Erfindung unter Bezugnahme auf die beigefügten Zeichnungen näher ersichtlich werden.The object and feature of the present invention will become more apparent by describing the preferred embodiments of the invention with reference to the accompanying drawings.
Detaillierte Beschreibung der bevorzugten AusführungsformenDetailed Description of the Preferred Embodiments
Nachstehend werden die bevorzugten Ausführungsformen der vorliegenden Erfindung unter Bezugnahme auf die beigefügten Zeichnungen in weiteren Einzelheiten beschrieben.Hereinafter, the preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.
Gemäß
Die Ansaugeinheit
Die Fühleinheit
Der Hindernis-Detektiersensor
Der Antriebsdistanz-Detektiersensor
Die Frontkamera
Die obere Kamera
Die Antriebseinheit
Der Sender
Die Steuereinrichtung
Die Steuereinrichtung
Gemäß dem ersten Aspekt der vorliegenden Erfindung erzeugt die Steuereinrichtung
Die Steuereinrichtung
Das von der oberen Kamera
Vorzugsweise teilt die Steuereinrichtung
Gemäß dem zweiten Aspekt der vorliegenden Erfindung erzeugt die Steuereinrichtung
Die Steuereinrichtung
Es ist beschrieben worden, dass das Referenz-Bild direkt durch die Steuereinrichtung
Gemäß dem dritten Aspekt der vorliegenden Erfindung ist das automatische Reinigungssystem bzw. das Reinigungsrobotersystem so ausgelegt, dass die Abbildungserzeugung bezüglich des oberen Bildes und die Positionserkennung des Reinigungsroboters
Schließlich ist der Reinigungsroboter
Die Fernsteuereinrichtung
Die drahtlose Weiterleitvorrichtung
Die zentrale Steuereinheit
Der Speicher
Der Reinigungsroboter-Treiber
Im Falle des Menüs zur Erzeugung des Referenz-Bildes wird es bevorzugt, dass der Benutzer einen wöchentlichen oder monatlichen Aktualisierungszyklus in Bezug auf einen Referenz-Bild-Aktualisierungszustand festlegen kann, wenn der Reinigungsroboter
Wenn ein Signal zur Erzeugung des Referenz-Bildes durch die Eingabevorrichtung
Das Positionserkennungsverfahren des Reinigungsroboters
Zuerst entscheidet die Steuereinrichtung
Wenn hinsichtlich des Betriebs zur Erzeugung des Referenz-Bildes entschieden ist, treibt die Steuereinrichtung
Die Steuereinrichtung
Danach entscheidet die Steuereinrichtung
Wenn entschieden ist, dass der Befehl zur Reinigung übertragen ist, erkennt die Steuereinrichtung
Die Steuereinrichtung
Anschließend treibt die Steuereinrichtung
Danach entscheidet die Steuereinrichtung
Andererseits wird gemäß der vierten bevorzugten Ausführungsform der vorliegenden Erfindung in dem Fall, dass die Decke eine rechtwinklige Außenlinie aufweist, ein Verfahren zum Antrieb des Reinigungsroboters
Wenn beispielsweise, wie in
Zu diesem Zweck extrahiert die Steuereinrichtung
Vorzugsweise kompensiert die Steuereinrichtung
Mit anderen Worten ausgedrückt heißt dies, dass die Steuereinrichtung
Das obige Verfahren kann für das zuvor beschriebene Reinigungsrobotersystem angenommen werden.The above method can be adopted for the above-described cleaning robot system.
Hier kann für das Verfahren zur Verarbeitung eines Bildes der ermittelten Kante ein verschiedenartiges Verfahren, wie ein ”Sobel-Algorithmus” oder ein ”Navatiark-Babu-Algorithmus” angenommen werden.Here, for the method of processing an image of the detected edge, a various method such as a "Sobel algorithm" or a "Navatiark-Babu algorithm" may be adopted.
Der Reinigungsroboter-Steuerungsprozess zur Kompensation des Antriebsfehlers durch Extrahieren des geradlinigen Elements von dem oberen Bild wird nunmehr unter Bezugnahme auf
Zunächst entscheidet die Steuereinrichtung
Wenn hinsichtlich des Betriebs zur Erzeugung des Referenz-Bildes entschieden ist, steuert die Steuereinrichtung
Ein Antriebsmuster des Reinigungsroboters
Claims (10)
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR01-20754 | 2001-04-18 | ||
KR20010020754 | 2001-04-18 | ||
KR01-65888 | 2001-10-25 | ||
KR10-2001-0065888A KR100406636B1 (en) | 2001-04-18 | 2001-10-25 | Robot cleaner and system and method of controling thereof |
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JP (1) | JP2002325708A (en) |
CN (1) | CN1218815C (en) |
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CN1381340A (en) | 2002-11-27 |
JP2002325708A (en) | 2002-11-12 |
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US20020153184A1 (en) | 2002-10-24 |
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